CN109466655B - Robot for monitoring phenotype of field crops - Google Patents
Robot for monitoring phenotype of field crops Download PDFInfo
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- CN109466655B CN109466655B CN201811273308.8A CN201811273308A CN109466655B CN 109466655 B CN109466655 B CN 109466655B CN 201811273308 A CN201811273308 A CN 201811273308A CN 109466655 B CN109466655 B CN 109466655B
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- wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/001—Axles of the portal type, i.e. axles designed for higher ground clearance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B35/00—Axle units; Parts thereof ; Arrangements for lubrication of axles
- B60B35/02—Dead axles, i.e. not transmitting torque
- B60B35/10—Dead axles, i.e. not transmitting torque adjustable for varying track
- B60B35/1036—Dead axles, i.e. not transmitting torque adjustable for varying track operated with power assistance
- B60B35/1045—Dead axles, i.e. not transmitting torque adjustable for varying track operated with power assistance electrically
Abstract
The invention discloses a field crop phenotype monitoring robot, which comprises a chassis, a height-adjustable beam, left and right side arms with adjustable wheel track, a battery mounting rack and a monitoring platform, wherein the left and right side arms are connected with the chassis through the battery mounting rack; the monitoring platform is carried above the crossbeam, and two ends of the crossbeam are respectively and rigidly connected with the left side arm and the right side arm to form a portal frame structure; the bottom of the chassis is provided with three wheels to form an inverted three-wheel structure, namely a left wheel, a right wheel and a rear wheel, and a small universal wheel is arranged between the left wheel and the right wheel; the battery mounting rack is arranged on a longitudinal beam of the chassis, and the front end and the rear end of the longitudinal beam are supported by a rear wheel and a small universal wheel; the lower ends of the left and right side arms are connected with the left and right wheels through the damping fork, and the upper ends of the left and right side arms are rigidly connected with the cross beam. The field crop phenotype monitoring robot has the advantages of low gravity center, good stability, light structure and the like, and can adapt to dry field crop operation with different row spacing and different growth periods.
Description
Technical Field
The invention relates to the field of crop phenotype monitoring, in particular to a field crop phenotype monitoring robot.
Background
The crop surface monitoring is the basis of new variety breeding and promotion and genomics and phenomics research. The movable crop phenotype monitoring carrying platforms used in the field are mostly large tractors, hand-push phenotype platforms and automatic walking phenotype platforms, the large tractors are easy to cause soil hardening, and the cost is high; the hand-push type watch platform consumes manpower and has low efficiency. At present, the research on the phenotype platform of automatic walking is less, and the following problems are more existed: the structure is inflexible, the mass center is higher, the stability is low, the application range is limited, and the device is difficult to adapt to the row spacing of various crops and the multi-growth period of the crops.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a crop phenotype monitoring robot which runs stably in the field, can be loaded with various sensors, can adjust the wheel distance and the ground clearance, and is suitable for dry field crops with different row distances and different growth periods.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a field crop phenotype monitoring robot comprises a chassis, a height-adjustable beam, left and right side arms with adjustable wheel tracks, a battery mounting frame and a monitoring platform; the monitoring platform is carried above the crossbeam, and two ends of the crossbeam are respectively and rigidly connected with the left side arm and the right side arm to form a portal frame structure; the bottom of the chassis is provided with three wheels to form a reverse three-wheel structure, the three wheels are respectively a left wheel, a right wheel and a rear wheel, a small universal wheel is arranged between the left wheel and the right wheel, and the small universal wheel is directly connected with a chassis bracket; the left wheel and the right wheel are internally provided with hub motors which are not only steering wheels but also driving wheels, the rear wheel is a universal wheel, the left wheel and the right wheel are positioned on the same transverse plane, the small universal wheel and the rear wheel are positioned on the same longitudinal plane, and the transverse plane and the longitudinal plane are vertical to each other; the battery mounting rack is arranged on a longitudinal beam of the chassis, and the front end and the rear end of the longitudinal beam are supported by a rear wheel and a small universal wheel; the lower ends of the left and right side arms are connected with the left wheel and the right wheel through the damping fork, and the upper ends of the left and right side arms are rigidly connected with the cross beam.
Further, the crossbeam includes the three section sleeve, is left end sleeve, right-hand member sleeve and middle sleeve respectively, left end sleeve and right-hand member sleeve pass through flexible hydraulic stem with middle sleeve respectively and are connected, and the middle sleeve of a section in the middle of the crossbeam and the vertical lift slide rail on the chassis all are provided with the lug, and the crossbeam passes through the pin joint with vertical lift slide rail. The vertical lifting sliding guide rail is of a sleeve structure, can be manually adjusted in height, is 1.9m in maximum adjusting height, and is fixed in height through a limiting pin after being adjusted. During height adjustment, the vertical sliding guide rail is adjusted to a corresponding height, then is positioned through pin connection, and then drives the cross beam to lift through the lifting hydraulic rod on the side arm, so that the height adjustment of the monitoring platform is realized.
Furthermore, the left side arm and the right side arm comprise a left side arm and a right side arm, and the left side arm and the right side arm respectively comprise a torque motor, a torque motor mounting frame and a height adjusting hydraulic lifting rod; the hydraulic lifting rod height adjusting device is characterized in that the torque motor mounting frame is arranged above the damping fork, the torque motor is mounted in the torque motor mounting frame, an output shaft of the torque motor is connected with the damping fork through a spline, the lower end of the height adjusting hydraulic lifting rod is connected with the torque motor mounting frame through a flange plate at the bottom of the hydraulic rod, and the upper end of the height adjusting hydraulic lifting rod is rigidly connected with the cross beam.
Furthermore, the telescopic hydraulic rod and the torque motor form a chassis wheel track adjusting mechanism, the adjusting mode is that after the torque motor drives the damping fork to enable the wheels to rotate for 90 degrees, the telescopic hydraulic rod on the cross beam pushes the left sleeve and the right sleeve to drive the wheels to roll towards two sides, the wheel track is adjusted to be 2.4m-3.2m, and then the wheels are turned back to the original position through the torque motor. The wheel track adjusting range is 2.4m-3.2m, the requirements of dry field crops with different row distances and high flux can be met, and the adjusting mode is a more common mode of adjusting the wheel track by directly pushing the side arm through a hydraulic rod, so that power is saved, and the two sides of the vehicle body are prevented from being stressed and inclined.
Furthermore, the monitoring platform is of a punched steel plate structure and is installed on the cross beam in a threaded connection mode, and the height of the height adjusting hydraulic lifting rod is adjusted to enable the cross beam to move along a vertical lifting sliding guide rail on the chassis, so that the height of the monitoring platform is adjusted. The height adjusting range of the monitoring platform is 1.4m-1.9 m.
Furthermore, an axle is not arranged between the left wheel and the right wheel, the left side arm and the right side arm are rigidly connected with the cross beam to form a portal frame type structure, and the space at the lower part of the portal frame is used for crops to pass through, so that the crops can be prevented from being damaged by the axle, and the trafficability of the robot is improved; the height of the portal frame can be adjusted through the automatic hydraulic rods on the side arms according to operation requirements, the maximum height can reach 1.9m, and the requirements of dry-land crops are basically met. Meanwhile, the left wheel and the right wheel adopt differential steering; the robot realizes differential steering by controlling the speed of the left wheel and the right wheel, reduces transmission and steering devices and lightens the vehicle body.
Further, the ground clearance of the chassis longitudinal beam is 280 mm; the gravity center of the robot can be reduced, the stability is improved, and the battery rack and the small universal wheels and the rear wheels are on the same longitudinal plane, so that the battery rack is positioned between rows of crops during operation, and the crops are prevented from being damaged.
The invention has the beneficial effects that: the crop phenotype monitoring robot has flexible steering, low gravity center, stable operation in field, wide crop application range and capacity of meeting the requirement of dry field crop operation in different row spacing and different growth period.
Carrying out obstacle crossing simulation on the robot by using Adams software:
referring to fig. 4-5, pits with the width of 10cm and the depth of 10cm are arranged on the road surface, simulation results show that the robot can stably pass through, and the maximum acceleration along the height direction of the robot is not more than 0.5m/s except individual catastrophe points2The maximum amplitude is 2cm, only 1.3% of the height of the robot, and it returns to a plateau immediately after crossing an obstacle.
Referring to fig. 6-7, the road surface is provided with a bulge with the width of 10cm and the height of 10cm, simulation results show that the robot can stably cross obstacles, and the maximum acceleration along the height direction of the robot is not more than 2m/s except individual catastrophe points2The maximum amplitude is 6cm, only 4% of the robot height, and plateau immediately after passing the obstacle.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic structural diagram of the crop phenotype monitoring robot.
Fig. 2 is a view from direction B of fig. 1.
Fig. 3 is a view taken along direction a of fig. 1.
Fig. 4 shows the coordinate change of the center of mass of the robot along the height direction thereof when the robot is in obstacle crossing simulation (pit).
Fig. 5 shows the variation of the vibration acceleration of the center of mass of the robot along the height direction thereof when the robot is subjected to obstacle crossing simulation (pit).
Fig. 6 shows the coordinate change of the center of mass of the robot along the height direction thereof when the robot is in obstacle crossing simulation (bulging).
Fig. 7 shows the variation of the vibration acceleration of the center of mass of the robot along the height direction thereof during the obstacle crossing simulation (protrusion) of the robot.
Labeled as: 1-chassis, 2-left side arm, 3-right side arm, 4-crossbeam, 5-monitoring platform, 6-vertical lifting sliding guide rail, 7-left wheel, 8-right wheel, 9-rear wheel, 10-small universal wheel, 11-battery mounting rack, 12-longitudinal beam, 13-damping fork, 14-left end sleeve, 15-right end sleeve, 16-middle sleeve, 17-telescopic hydraulic rod, 18-torque motor, 19-torque motor mounting rack and 20-height adjusting hydraulic lifting rod.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
As shown in fig. 1 to 3, a field crop phenotype monitoring robot comprises a chassis 1 similar to a reverse tricycle, a left side arm 2 and a right side arm 3 with adjustable wheel track, a crossbeam 4 with adjustable height and a monitoring platform 5; the monitoring platform 5 is arranged above the cross beam 4 through threaded connection; two ends of the beam 4 are respectively and rigidly connected with the left side arm 2 and the right side arm 3 to form a portal frame structure. The beam 4 is connected with the chassis 1 through a vertical lifting sliding guide rail 6 on the chassis; three large wheels at the bottom of the chassis form an inverted three-wheel structure which is a left wheel 7, a right wheel 8 and a rear wheel 9 respectively, and a small universal wheel 10 is positioned between the two left and right wheels; the left wheel 7 and the right wheel 8 are on the same transverse plane, the small universal wheel 10 and the rear wheel 9 are on the same longitudinal plane, and the transverse plane and the longitudinal plane are perpendicular to each other. The battery mounting rack 11 is arranged on a longitudinal beam 12 of the chassis, and the rear wheel 9 and the small universal wheel 10 are respectively positioned at the front end and the rear end of the longitudinal beam 12 and support the longitudinal beam 12 together. The lower ends of the left side arm 2 and the right side arm 3 are connected with left and right wheels through a damping fork 13, the left and right wheels are internally provided with hub motors which are not only steering wheels but also driving wheels, the rear wheel is a universal wheel, and a reverse three-wheel structure formed by the three wheels is flexible in maneuvering, and the chassis is not provided with an axle, so that the trafficability of the robot is improved.
In the invention, a battery mounting rack 11 is arranged on a chassis longitudinal beam 12, and a battery is mounted in the battery mounting rack and provides power for a hub motor, an electromagnetic valve of a hydraulic rod, a torque motor and a carried sensor; the ground clearance of the chassis longitudinal beam 12 is only 280mm, so that the gravity center height of the robot can be reduced, and the stability is improved; during field operation, the chassis longitudinal beam 12 and the installed battery installation frame 11 are positioned between crop rows, so that crops can be prevented from being damaged.
In the invention, the beam 4 comprises three sections of sleeves, namely a left end sleeve 14, a right end sleeve 15 and a middle sleeve 16; the left end sleeve 14 and the right end sleeve 15 are respectively connected with the middle sleeve 16 through a telescopic hydraulic rod 17; the two side arms comprise a torque motor 18, a torque motor mounting rack 19 and a height adjusting hydraulic lifting rod 20; torque motor mounting bracket 19 sets up in shock attenuation fork 13 top, and torque motor 18 is installed in torque motor mounting bracket 19, and torque motor 18's output shaft passes through the spline and is connected with shock attenuation fork 13, and the ring flange that altitude mixture control hydraulic lifting rod 20 lower extreme passes through the hydraulic stem bottom is connected with torque motor mounting bracket 19, upper end and crossbeam 4 rigid connection. When the wheel track is adjusted, after the wheel rotates by 90 degrees through the torque motor 18, the telescopic hydraulic rod 17 on the cross beam drives the sleeves at the left end and the right end of the cross beam to do telescopic motion, so that the wheel rolls to achieve the effect of adjusting the wheel track, and then the wheel rotates by 90 degrees through the torque motor. The wheel track adjusting range is 2.4m-3.2m, the requirements of dry field crops without row space and high flux can be met, and the adjusting mode is a more common mode of directly pushing the side arms through the hydraulic rods to adjust the wheel track, so that power is saved, and the two sides of the vehicle body are prevented from being stressed and inclined.
In the invention, an axle is not arranged between the left wheel 7 and the right wheel 8, the left side arm and the right side arm are rigidly connected with the cross beam to form a portal frame type structure, and the space below the portal frame is used for crops to pass through, so that the axle can be prevented from damaging the crops; according to the operation requirement, the height of the portal frame can be adjusted by the height adjusting hydraulic lifting rod 20 on the side arm, the maximum height can reach 1.9m, and the requirement of dry field crop operation is basically met. In addition, the vertical lifting sliding guide rail 6 on the chassis 1 adopts a sleeve structure, can be manually adjusted in height, has the maximum height of 1.9m, and is fixed in height through a limiting pin after being adjusted; a section of sleeve and vertical lift slide rail in the middle of crossbeam 4 all are equipped with the lug, and are fixed through the pin junction.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the scope of the present invention in any way, and all technical solutions obtained by using equivalent substitution methods fall within the scope of the present invention.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
Claims (7)
1. A field crop phenotype monitoring robot, characterized by: the monitoring robot comprises a chassis, a height-adjustable cross beam, a left side arm, a right side arm, a battery mounting frame and a monitoring platform, wherein the wheel track of the left side arm and the wheel track of the right side arm are adjustable; the monitoring platform is carried above the crossbeam, and two ends of the crossbeam are respectively and rigidly connected with the left side arm and the right side arm to form a portal frame structure; the bottom of the chassis is provided with three wheels to form a reverse three-wheel structure, the three wheels are respectively a left wheel, a right wheel and a rear wheel, a small universal wheel is arranged between the left wheel and the right wheel, and the small universal wheel is directly connected with a chassis bracket; the left wheel and the right wheel are internally provided with hub motors which are not only steering wheels but also driving wheels, the rear wheel is a universal wheel, the left wheel and the right wheel are positioned on the same transverse plane, the small universal wheel and the rear wheel are positioned on the same longitudinal plane, and the transverse plane and the longitudinal plane are vertical to each other; the battery mounting rack is arranged on a longitudinal beam of the chassis, and the front end and the rear end of the longitudinal beam are supported by a rear wheel and a small universal wheel; the lower ends of the left and right side arms are connected with the left wheel and the right wheel through the damping fork, and the upper ends of the left and right side arms are rigidly connected with the cross beam;
the vertical lifting sliding guide rail adopts a sleeve structure, can be manually adjusted in height, has the maximum adjustment height of 1.9m, and is fixed in height through a limiting pin after being adjusted;
the cross beam comprises three sections of sleeves, namely a left end sleeve, a right end sleeve and a middle sleeve, wherein the left end sleeve and the right end sleeve are respectively connected with the middle sleeve through telescopic hydraulic rods;
the left side arm and the right side arm respectively comprise a torque motor, a torque motor mounting frame and a height adjusting hydraulic lifting rod; the hydraulic lifting rod height adjusting device is characterized in that the torque motor mounting frame is arranged above the damping fork, the torque motor is mounted in the torque motor mounting frame, an output shaft of the torque motor is connected with the damping fork through a spline, the lower end of the height adjusting hydraulic lifting rod is connected with the torque motor mounting frame through a flange plate at the bottom of the hydraulic rod, and the upper end of the height adjusting hydraulic lifting rod is rigidly connected with the cross beam.
2. The field crop phenotype monitoring robot of claim 1, wherein: the telescopic hydraulic rod and the torque motor form a chassis wheel track adjusting mechanism, the adjusting mode is that the torque motor drives the damping fork to enable the wheel to rotate for 90 degrees, the telescopic hydraulic rod on the cross beam pushes the left sleeve and the right sleeve to drive the wheel to roll towards two sides, the wheel track is adjusted, and then the wheel is rotated back to the original position through the torque motor.
3. The field crop phenotype monitoring robot of claim 2, wherein: the wheel track adjusting range is 2.4m-3.2m, and the requirements of dry field crops with different row distances and high flux can be met.
4. The field crop phenotype monitoring robot of claim 1, wherein: the monitoring platform is of a punched steel plate structure and is installed on the cross beam in a threaded connection mode, and the height of the height adjusting hydraulic lifting rod is adjusted to enable the cross beam to move along a vertical lifting sliding guide rail on the chassis, so that the height of the monitoring platform is adjusted.
5. The field crop phenotype monitoring robot of claim 4, wherein: the height adjusting range of the monitoring platform is 1.4m-1.9 m.
6. The field crop phenotype monitoring robot of claim 1, wherein: and an axle is not arranged between the left wheel and the right wheel, and the left wheel and the right wheel adopt differential steering.
7. The field crop phenotype monitoring robot of claim 1, wherein: the ground clearance of the chassis longitudinal beam is 280 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811273308.8A CN109466655B (en) | 2018-10-30 | 2018-10-30 | Robot for monitoring phenotype of field crops |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811273308.8A CN109466655B (en) | 2018-10-30 | 2018-10-30 | Robot for monitoring phenotype of field crops |
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| Publication Number | Publication Date |
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| CN109466655A CN109466655A (en) | 2019-03-15 |
| CN109466655B true CN109466655B (en) | 2020-08-14 |
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| CN201811273308.8A Active CN109466655B (en) | 2018-10-30 | 2018-10-30 | Robot for monitoring phenotype of field crops |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795552A (en) * | 2019-03-20 | 2019-05-24 | 宋鸿 | A kind of improved cultivator |
| CN110260789B (en) * | 2019-07-12 | 2020-09-29 | 南京农业大学 | System and method for monitoring phenotype of field high-throughput crops |
| CN110715665B (en) * | 2019-11-15 | 2021-12-14 | 南京农业大学 | Field crop phenotype monitoring robot and navigation method thereof |
| AT523297B1 (en) * | 2020-01-10 | 2021-07-15 | S A M Tech Gmbh | Autonomous equipment carrier |
| CN111272221B (en) * | 2020-02-28 | 2021-04-02 | 南京慧瞳作物表型组学研究院有限公司 | Five-dimensional data acquisition vehicle for field crop phenotype |
| CN116009562A (en) * | 2023-03-27 | 2023-04-25 | 慧诺云谱(海南)科技有限公司 | Self-propelled platform and monitoring method of field crop phenotype monitoring robot |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2074973U (en) * | 1990-09-06 | 1991-04-17 | 迟同生 | Universal agricultural machine for field |
| DE19820838A1 (en) * | 1998-05-04 | 1999-11-11 | Schiller Karl Heinz | Soil cultivator for a nursery that can be driven like motorcycle |
| CN203290117U (en) * | 2013-05-28 | 2013-11-20 | 石河子开发区石大锐拓机械装备有限公司 | Corn sprayer |
| CN203608525U (en) * | 2013-12-11 | 2014-05-28 | 华南农业大学 | Diamond four-wheel portal frame type high-ground-clearance cultivator |
| CN104709196B (en) * | 2013-12-16 | 2017-01-11 | 中国农业机械化科学研究院 | Electric lifting chassis for field operation robot |
| CN103802629B (en) * | 2013-12-27 | 2016-01-27 | 江苏大学 | A kind of lateral wheel is apart from the chassis all adjustable with the ground Clearance and control method |
| CN203942762U (en) * | 2014-06-11 | 2014-11-19 | 河南农业大学 | Three-wheel full hydraulic drive field aerial lift vehicle |
| CN104743029A (en) * | 2015-04-02 | 2015-07-01 | 东北石油大学 | Folding bicycle used by three users on basis of solar GPS positioning |
| CN207730652U (en) * | 2018-01-30 | 2018-08-14 | 华南农业大学 | Field information monitoring vehicular platform |
| CN108622189A (en) * | 2018-04-26 | 2018-10-09 | 吉林大学 | Steering control device, method and the changeable wheel track vehicle of changeable wheel track vehicle |
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2018
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